I homeschool my children. They do not miss the company of other children.
My children socialize with other children at Church, Scouts, 4H, baseball, drama, and various other camps/clubs. They also have cousins, neighbors, friends, etc.
Of course, we do have to use transportation to/from these events, and there is an inherent danger. However, there is danger in anything and you have to weigh the benefits against the risks and make a choice.
Going into our sixth year of formally homeschooling, the only disadvantage we have are dealing with people that have no knowledge of what homeschooling truly is and offers. These are the people that perpetuate the stereotypes of lack of socialization, inability to function in society, etc. The people that can not think outside the box.